Merge pull request #1426 from pierotofy/qfix

Dynamic depthmap resolution

opendm/config.py

@@ -218,8 +218,8 @@ def config(argv=None, parser=None):
                         action=StoreValue,
                         type=float,
                         default=640,
-                        help=('Legacy option (use --pc-quality instead). Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
-                              'but produce denser point clouds. '
+                        help=('Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
+                              'but produce denser point clouds. Overrides the value calculated by --pc-quality.'
                               'Default: %(default)s'))
 
     parser.add_argument('--use-hybrid-bundle-adjustment',

opendm/dem/commands.py

@@ -322,14 +322,7 @@ def median_smoothing(geotiff_path, output_path, smoothing_iterations=1):
         # these edge cases, but it's slower.
         for i in range(smoothing_iterations):
             log.ODM_INFO("Smoothing iteration %s" % str(i + 1))
-            arr = ndimage.median_filter(arr, size=5, output=dtype)
-
-        # Fill corner points with nearest value
-        if arr.shape >= (4, 4):
-            arr[0][:2] = arr[1][0] = arr[1][1]
-            arr[0][-2:] = arr[1][-1] = arr[2][-1]
-            arr[-1][:2] = arr[-2][0] = arr[-2][1]
-            arr[-1][-2:] = arr[-2][-1] = arr[-2][-2]
+            arr = ndimage.median_filter(arr, size=9, output=dtype, mode='nearest')
 
         # Median filter leaves a bunch of zeros in nodata areas
         arr[nodata_locs] = nodata

opendm/mesh.py

@@ -20,6 +20,8 @@ def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05,
     log.ODM_INFO('Created temporary directory: %s' % tmp_directory)
 
     radius_steps = [dsm_radius]
+    for _ in range(2):
+        radius_steps.append(radius_steps[-1] * 2) # 2 is arbitrary
 
     log.ODM_INFO('Creating DSM for 2.5D mesh')
 

opendm/osfm.py

@@ -13,7 +13,6 @@ from opendm import system
 from opendm import context
 from opendm import camera
 from opendm import location
-from opendm.utils import get_depthmap_resolution
 from opendm.photo import find_largest_photo_dim, find_largest_photo
 from opensfm.large import metadataset
 from opensfm.large import tools
@@ -89,8 +88,12 @@ class OSFMContext:
                         merged.add_camera(camera)
 
                     for point in rec.points.values():
-                        new_point = merged.create_point(point.id, point.coordinates)
-                        new_point.color = point.color
+                        try:
+                            new_point = merged.create_point(point.id, point.coordinates)
+                            new_point.color = point.color
+                        except RuntimeError as e:
+                            log.ODM_WARNING("Cannot merge shot id %s (%s)" % (shot.id, str(e)))
+                            continue
 
                     for shot in rec.shots.values():
                         merged.add_shot(shot)
@@ -195,8 +198,6 @@ class OSFMContext:
                 else:
                     log.ODM_WARNING("Cannot compute max image dimensions, going with defaults")
 
-            depthmap_resolution = get_depthmap_resolution(args, photos)
-
             # create config file for OpenSfM
             config = [
                 "use_exif_size: no",

opendm/photo.py

@@ -20,6 +20,20 @@ from opensfm.geo import ecef_from_lla
 
 projections = ['perspective', 'fisheye', 'brown', 'dual', 'equirectangular', 'spherical']
 
+def find_largest_photo_dims(photos):
+    max_mp = 0
+    max_dims = None
+
+    for p in photos:
+        if p.width is None or p.height is None:
+            continue
+        mp = p.width * p.height
+        if mp > max_mp:
+            max_mp = mp
+            max_dims = (p.width, p.height)
+        
+    return max_dims
+
 def find_largest_photo_dim(photos):
     max_dim = 0
     for p in photos:

opendm/shots.py

@@ -46,6 +46,10 @@ def get_geojson_shots_from_opensfm(reconstruction_file, utm_srs=None, utm_offset
                               [0, 0, 0, 1]])
         raster = None
         pseudo = True
+    
+    # Couldn't get a SRS?
+    if utm_srs is None:
+        return None
 
     crstrans = transformer(CRS.from_proj4(utm_srs), CRS.from_epsg("4326"))
 

opendm/utils.py

@@ -1,28 +1,38 @@
 import os, shutil
 from opendm import log
-from opendm.photo import find_largest_photo_dim
+from opendm.photo import find_largest_photo_dims
 from osgeo import gdal
 from opendm.loghelpers import double_quote
 
 def get_depthmap_resolution(args, photos):
     if 'depthmap_resolution_is_set' in args:
-        # Legacy
-        log.ODM_WARNING("Legacy option --depthmap-resolution (this might be removed in a future version). Use --pc-quality instead.")
+        # Override pc-quality
         return int(args.depthmap_resolution)
     else:
-        max_dim = find_largest_photo_dim(photos)
+        max_dims = find_largest_photo_dims(photos)
         min_dim = 320 # Never go lower than this
 
-        pc_quality_scale = {
-            'ultra': 0.5,
-            'high': 0.25,
-            'medium': 0.125,
-            'low': 0.0675,
-            'lowest': 0.03375
-        }
+        if max_dims is not None:
+            w, h = max_dims
+            max_dim = max(w, h)
 
-        if max_dim > 0:
-            return max(min_dim, int(max_dim * pc_quality_scale[args.pc_quality]))
+            megapixels = (w * h) / 1e6
+            multiplier = 1
+            
+            if megapixels < 6:
+                multiplier = 2
+            elif megapixels > 42:
+                multiplier = 0.5
+            
+            pc_quality_scale = {
+                'ultra': 0.5,
+                'high': 0.25,
+                'medium': 0.125,
+                'low': 0.0675,
+                'lowest': 0.03375
+            }
+
+            return max(min_dim, int(max_dim * pc_quality_scale[args.pc_quality] * multiplier))
         else:
             log.ODM_WARNING("Cannot compute max image dimensions, going with default depthmap_resolution of 640")
             return 640 # Sensible default

stages/openmvs.py

@@ -46,8 +46,10 @@ class ODMOpenMVSStage(types.ODM_Stage):
 
             if not io.dir_exists(depthmaps_dir):
                 os.mkdir(depthmaps_dir)
-            
+
             depthmap_resolution = get_depthmap_resolution(args, photos)
+            log.ODM_INFO("Depthmap resolution set to: %spx" % depthmap_resolution)
+
             if outputs["undist_image_max_size"] <= depthmap_resolution:
                 resolution_level = 0
             else: